Formerly of the Indiana Pacers, Copeland joins the Bucks after his 2014-15 season ended April 8 when he was stabbed outside of a New York nightclub.
He underwent surgery for knife wounds to his left elbow and abdomen. In addition, a source with knowledge of the situation told ESPN's Chris Broussard that Copeland fractured his elbow.
Copeland apologized for the incident and spent much of the offseason rehabbing the injuries.
Copeland was not part of the regular rotation for much of the 2014-15 season with the Pacers. He averaged 6.2 points on 36.1 percent shooting in 16.6 minutes per game.
He reunites with Bucks coach Jason Kidd, whom Copeland played with on the 2012-13 New York Knicks.